Real-Time Systems. Design Principles for Distributed Embedded Applications. Herman Kopetz. Second Edition (Real-Time Systems. Design Principles for Distributed Embedded Applications. Herman Kopetz. Second Edition.pdf)

Real-Time SystemsSecond EditionReal-Time Systems SeriesSeries EditorJohn A. StankovicUniversity of Virginia, Virginia, USAFor further volumes:http://www.springer.com/series/6941Hermann KopetzReal-Time SystemsDesign Principles for DistributedEmbedded ApplicationsSecond EditionHermann KopetzVienna University of TechnologyDepartment of Computer EngineeringReal Time Systems GroupTreitlstrasse 3, 3rd floor1040 Wien, Austriahk@vmars.tuwien.ac.atISSN 1867-321Xe-ISSN 1867-3228ISBN 978-1-4419-8236-0e-ISBN 978-1-4419-8237-7DOI 10.1007/978-1-4419-8237-7Springer New York Dordrecht Heidelberg LondonLibrary of Congress Control Number: 2011925551# Springer Science+Business Media, LLC 2011All rights reserved.

This work may not be translated or copied in whole or in part without the writtenpermission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York,NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use inconnection with any form of information storage and retrieval, electronic adaptation, computer software,or by similar or dissimilar methodology now known or hereafter developed is forbidden.The use in this publication of trade names, trademarks, service marks, and similar terms, even if theyare not identified as such, is not to be taken as an expression of opinion as to whether or not they aresubject to proprietary rights.Printed on acid-free paperSpringer is part of Springer Science+Business Media (www.springer.com)PrefaceThe primary objective of this book is to serve as a textbook for students who take asenior undergraduate or a first-year graduate course on real-time embedded systems, also called cyber-physical systems.

The structure of the book – the material isorganized into 14 chapters – maps to the 14 weeks of a semester. The book is alsointended for practitioners in industry who want to learn about the state of the art inreal-time embedded system design and need a reference book that explains thefundamental concepts of the field. More than 1,000 students used the first edition ofthis book, published about 14 years ago, as a text for the real-time systems course atthe Vienna University of Technology. The feedback from these students and manynew developments in this dynamic field of embedded real-time systems have beenincorporated in this fundamentally revised second edition of the book. The focus ofthe book is on the design of distributed real-time systems at the architecture level.While a significant part of the established computer science literature abstracts fromthe progression of real-time, real-time system designers cannot get away with suchan abstraction.

In this book, the progression of physical time is considered a firstorder citizen that shapes many of the relevant concepts. The book explains thefundamental concepts related to the progression of time on a number of practicalinsightful examples from industry. The conceptual model of a distributed real-timedistributed system has been extended and precise definitions of important timerelated concepts, such as sparse time, state, temporal accuracy of real-time data,and determinism are given.Since the evolving cognitive complexity of large computer systems is a topicof utmost concern, a new chapter on simplicity has been included in this secondedition. This chapter builds on some of the recent insights from the field ofcognition – concerning concept formation, understanding, human simplificationstrategies and model building – and formulates seven principles that lead tothe design of simple systems.

These principles are followed in the remaining12 chapters of the book. The other two new chapters, one on energy and powerawareness, and one on the Internet of things cover topics of increasing importancein the enormous market of mobile devices. The chapters on communication,dependability, system design, and validation have been substantially revised withvviPrefacea focus on component-based and model-based design. The chapter on dependabilityincludes new sections on security and safety.

The final chapter describes thetime-triggered architecture that integrates all presented concepts into a coherentframework for the development of dependable embedded real-time systems. Sincethe first edition of the book has been published, a visible paradigm shift fromthe event-triggered to the time-triggered design methodology for dependabledistributed real-time systems has taken place in a number of applications.It is assumed that the reader of this book has a background in basic computerscience or computer engineering or has some practical experience in the design orimplementation of embedded systems.The glossary at the end of the book is an integral part of the book, providingdefinitions for many of the technical terms that are used throughout the book.

Ifthe reader is not sure about the meaning of a term, she/he is advised to refer to theglossary.AcknowledgementsIt is impossible to name all students, colleagues from industry and fellow scientistswho have contributed to this second edition of the book by asking intelligentquestions or making constructive comments over the last decade – thanks to all ofyou. In the final stages of finishing the manuscript of this second edition, in October2010, I have given a course at Vanderbilt University, organized by Janos Sztipanovits, and got valuable comments form an unbiased audience.

I am especially gratefulto Christian Tessarek who did the artwork, and the following persons who haveread part or all of the evolving manuscript and made many valuable suggestionsfor improvement: Sven Bünte, Christian El-Salloum, Bernhard Frömel, OliverHöftberger, Herbert Grünbacher, Benedikt Huber, Albrecht Kadlec, RolandKammerer, Susanne Kandl, Vaclav Mikolasek, Stefan Poledna, Peter Puschner,Brian Randell, Andreas Steininger, Ekarin Suethanuwong, Armin Wasicek, MichaelZolda, and the following students from Vanderbilt: Kyoungho An, Joshua D. Carl,Spencer Crosswy, Fred Eisele, Fan Qui, and Adam C.

Trewyn.Vienna, AustriaJanuary 2011Hermann KopetzviiContents1The Real-Time Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.11.21.31.41.51.6When Is a Computer System Real-Time? . . . .

. . . . . . . . . . . . . . . . . . . . . .Functional Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.2.1 Data Collection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.2.2 Direct Digital Control. . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . .1.2.3 Man–Machine Interaction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Temporal Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.3.1 Where Do Temporal Requirements Come from? . . . . . . . . . .1.3.2 Minimal Latency Jitter . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.3.3 Minimal Error-Detection Latency . . . . . . . . . . . . . . . . . . . . . . . . . .Dependability Requirements. . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . .1.4.1 Reliability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.4.2 Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.4.3 Maintainability .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.4.4 Availability. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.4.5 Security. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Classification of Real-Time Systems . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . .1.5.1 Hard Real-Time System Versus SoftReal-Time System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.5.2 Fail-Safe Versus Fail-Operational . . . . . . . . . . . . . . . . . . . . . . . .

. .1.5.3 Guaranteed-Response Versus Best-Effort . . . . . . . . . . . . . . . . . .1.5.4 Resource-Adequate Versus Resource-Inadequate . . . . . . . . . .1.5.5 Event-Triggered Versus Time-Triggered . . . . . . . . . . . . . . . . . . .The Real-Time Systems Market . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . .1.6.1 Embedded Real-Time Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.6.2 Plant Automation Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.6.3 Multimedia Systems . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1233566691010101112121313131516161617182021ixxContents1.723Examples of Real-Time Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.7.1 Controlling the Flow in a Pipe. . . . . . . .

. . . . . . . . . . . . . . . . . . . . . .1.7.2 Engine Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.7.3 Rolling Mill . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .